DE102024002112B3 - Method and device for determining an inclination angle of a vehicle body - Google Patents

Abstract

The invention relates to a method for determining an angle of inclination φ of a vehicle body of a vehicle caused by braking or acceleration relative to a surface formed by a roadway.
According to the invention, the method comprises the following steps:
- determining an image of reflections in the cornea of a driver's eye using a driver observation camera (S1);
- Extraction of reflected lane boundaries of the road ahead and reflected horizon projected onto a windshield of the vehicle using a head-up display from the image of the cornea area (S3);
- Determination of an overlap ratio HRC _CRI of the horizon extracted in the image of the cornea area in relation to a road width specified by the extracted road boundaries (S5);
- computational determination of positions of end points of the horizon reflected in the image of the cornea area and positions of end points of the horizon projected onto the windshield, determination of vectors connecting the end points and a computational determination of intersection points with an initial plane of the vehicle formed by the wheel contact surfaces in the case of an uninclined vehicle body (S7);
- Determination of a distance between the intersection points and determination of an overlap fraction HRC _PCRI of the distance in relation to a roadway width recorded with an environmental observation camera and transferred to the initial level (S9);
- computational adjustment of the coverage ratio HRC _PCRI by rotating the initial plane to the vectors by an adjusted inclination angle, so that the difference between the coverage ratios of HRC _PCRI and HRC _CRI is smaller than a predetermined threshold value (S11) and
- Transmission of the adjusted inclination angle φ between the initial and rotated plane to vehicle assistance systems for further processing (S13).

Description

The present invention relates to a method and a device for determining an inclination angle of a vehicle body.

From the EP 3 159 195 A1 A method is known in which an angle of inclination of a vehicle body is determined using an image taken with a camera.

From the JP 2023 - 160 431 A A method is known in which, with the help of surrounding images from a camera, it is determined whether the weight distribution of a vehicle reaches equilibrium or not.

The DE 10 2011 114 977 A1 discloses a device for controlling the driving dynamics of a vehicle with a driver's cab that is spring-mounted relative to a vehicle frame. A control unit uses a camera or other imaging sensors to determine the deflection of the driver's cab from changes in the positions of detected objects.

From the DE 603 09 278 T2 A camera mounted on a movable reflector is known, which records the road ahead of the vehicle. The camera is connected to an image processing unit, which ensures the successive processing of the images emitted by the camera to determine the horizon of a scene along the vehicle's road.

DE 10 2017 211 005 A1 is known to monitor corneal reflections and determine an angular deviation of the line of sight from the road.

It is an object of the present invention to provide an alternative method and device for determining the angle of inclination.

The object is achieved by a method having the features of claim 1 and a device according to claim 8. The dependent claims define preferred and advantageous embodiments of the present invention.

• - Bestimmung eines Bildes von Reflektionen im Cornea-Bereich eines Auges eines Fahrers mit einer Fahrerbeobachtungskamera;
• - aus dem Bild des Cornea-Bereichs Extraktion von reflektierten Fahrbahnbegrenzungen der vorausliegenden Fahrbahn und reflektierten mit einem Head-up Display auf eine Windschutzscheibe des Fahrzeugs projizierten Horizonts;
• - Ermittlung eines Überdeckungsanteils HRC_CRI des im Bild des Cornea-Bereichs extrahierten Horizonts in Relation zu einer von den extrahierten Fahrbahnbegrenzungen vorgegebenen Fahrbahnbreite;
• - rechnerische Bestimmung von Positionen von Endpunkten des in dem Bild des Cornea-Bereichs reflektierten Horizonts und Positionen von Endpunkten des auf die Windschutzscheibe projizierten Horizonts, Bestimmung von die Endpunkte verbindenden Vektoren und einer rechnerischen Bestimmung von Schnittpunkten mit einer von den Radaufstandsflächen gebildeten initialen Ebene des Fahrzeugs bei einem, d.h. relativ zu einem ungeneigten Fahrzeugaufbau,;
• - Bestimmung eines Abstands der Schnittpunkte und Ermittlung eines Überdeckungsanteils HRC_PCRI des Abstandes in Relation zu einer mit einer Umgebungsbeobachtungskamera erfassten auf die initiale Ebene übertragenen Fahrbahnbreite;
• - rechnerische Anpassung des Überdeckungsanteils HRC_PCRI durch Drehung der initialen Ebene zu den Vektoren um einen angepassten Neigungswinkel, so dass die Differenz des Überdeckungsanteils von HRC_PCRI und HRC_CRI kleiner einem vorgegebenen Schwellenwert ist und
• - Übermittlung des angepassten Neigungswinkels φ zwischen initialer und gedrehter Ebene an Fahrzeugassistenzsysteme zur Weiterverarbeitung

In the method according to the invention, the angle of inclination of a vehicle body caused by braking or acceleration relative to a surface formed by a roadway is determined by the following steps:

• - Determining an image of reflections in the corneal area of a driver's eye using a driver observation camera;
• - Extraction of reflected lane boundaries of the road ahead and reflected horizon projected onto a windshield of the vehicle using a head-up display from the image of the cornea area;
• - Determination of an overlap ratio HRC _CRI of the horizon extracted in the image of the cornea area in relation to a road width specified by the extracted road boundaries;
• - computational determination of positions of end points of the horizon reflected in the image of the cornea area and positions of end points of the horizon projected onto the windshield, determination of vectors connecting the end points and a computational determination of points of intersection with an initial plane of the vehicle formed by the wheel contact surfaces in the case of an, ie relative to an uninclined vehicle body;
• - Determination of a distance between the intersection points and determination of an overlap ratio HRC _PCRI of the distance in relation to a roadway width recorded with an environmental observation camera and transferred to the initial level;
• - computational adjustment of the coverage ratio HRC _PCRI by rotating the initial plane to the vectors by an adjusted inclination angle, so that the difference between the coverage ratios of HRC _PCRI and HRC _CRI is smaller than a given threshold value and
• - Transmission of the adjusted inclination angle φ between the initial and rotated plane to vehicle assistance systems for further processing

The image of the cornea area includes reflections from objects or light sources in the environment. This eye image is recorded with a suitable camera, such as the driver observation camera. The horizon projected by the head-up display onto the windshield of the vehicle, i.e. the element representing a horizon or a horizontal line, corresponds, for example, to an element designed as a horizontal line, which further separates, for example, two different display areas of the projection surface. Other elements can also be used as the horizon, which have a horizontal main axis direction or to which at least one horizontal main axis can be assigned by corresponding optical features, for example a round instrument for displaying the speed with markings to indicate a horizontal Axle. If the vehicle body has no roll angle, the horizon assumes a horizontal position relative to the road surface.

This horizon reflected in the corneal area and the reflected boundary lines of the road ahead are recorded by the driver observation camera, and an overlap ratio (HRC _CRI) of the reflected horizon (Horizontal Road Coverage) is determined from the recorded image in relation to a road width specified by the road boundaries. The coverage (HRC _CRI) is the ratio of the distance from the road boundary line, i.e. the road width, to the width of the horizon in the image of the corneal area. The vectors are determined by connecting the positions of the reflection of the end points of the horizon recorded in the driver's corneal area by the driver observation camera and the corresponding end points of the horizon projected onto the windshield by the head-up display, which are on the same side. The position data of the end points of the reflected horizon in the corneal area recorded by the driver observation camera and the positions of the end points of the horizon projected onto the windshield are determined in the body-fixed coordinate system. The axes of a wheel-fixed, i.e. road-fixed, coordinate system point, for example, in the direction of travel, transversely to the direction of travel and in the direction of the vertical axis of the vehicle. If there is no inclination of the vehicle body relative to the road or relative to the wheel-fixed axle components, i.e. the pitch, roll or yaw angle is zero, then the wheels on the front and rear axles are not compressed. In this state, the coordinates of all components in the coordinate system are known and defined in relation to one another, i.e. a plane formed by the wheel contact surfaces relative to a non-inclined vehicle body is known and can be determined. In this state, the axes of the body-fixed and wheel-fixed coordinate systems are preferably aligned parallel. The initial plane of the vehicle with a non-inclined vehicle body is therefore a plane that has a known relationship to the vehicle body, which is established provided that no forces caused by acceleration, braking or other driving maneuvers such as cornering act on the body. Thus, in the uninclined state, the plane formed by the wheel contact surfaces is defined in relation to the body, ie to the coordinate system of the body in space.

It is assumed that during inclination processes the position of the road surface relative to the wheel does not change, i.e. the road surface is constant relative to the wheel-fixed coordinate system.

If a tilt angle, i.e. pitch, roll or yaw angle, occurs due to driving dynamic forces caused by braking, acceleration or cornering, i.e. the wheels on the front and/or rear axle compress, then the tilt angle is mapped between the axes of the body and wheel-fixed coordinate system.

The invention takes advantage of the fact that, as soon as a correct inclination angle between the road surface and the vehicle body is assumed, the determined overlap ratios HRC _CRI and HRC _PCRI are equal. If, for example, there is no inclination angle between the vehicle and the road surface, the system is calibrated and adjusted so that the overlap ratios of HRC _CRI and HRC _PCRI are approximately equal. To achieve this, the wheel- and body-mounted axle systems, in which the cameras and head-up display are defined, must be aligned with each other, and if necessary, the horizon coordinates on the windshield must also be adjusted.

• Sobald sich ein Neigungswinkel einstellt, verändert sich die Ausrichtung und Neigung der aufbaufesten Vektoren, die rechnerisch wie oben beschrieben weiterhin virtuell mit der bei einem ungeneigten Fahrzeugaufbau von den Radaufstandsflächen gebildeten initialen Ebene, d.h. ohne Einfederung der Räder geschnitten werden, wodurch HRC_CRI und HRC_PCRI unterschiedliche Werte aufweisen. Der reale Neigungswinkel wird ermittelt, in dem die initiale Ebene rechnerisch virtuell zu dem Fahrzeugaufbau vorzugsweise zu einer Nickachse, Wank- oder Gierachse des Fahrzeugaufbaus derart iterativ um einen Winkel gedreht und der sich einstellende Abstand der Schnittpunkte der Vektoren mit der gedrehten virtuellen Ebene dabei derart verändert wird, bis die Überdeckungsanteile HRC_CRI und HRC_PCRI wieder annährend gleich groß sind, d.h. innerhalb einem durch einen Schwellenwert vorgegebenen Toleranzbereich liegen. In vorteilhafter Weise wird weiter zur Bestimmung von Nick-, Wank- und/oder Gierwinkel durch Drehung der initialen Ebene der dem in der Cornea-Bereich reflektierten Horizont und eine die Schnittpunkte mit der gedrehten Ebene verbindende Linie bzw. Gerade in eine parallele Lage zueinander überführt. Mit anderen Worten wird die Ebene so gedreht, dass die die Schnittpunkte verbindende Linie parallel zu dem im Cornea-Bereich reflektierten Horizont ist sowie der Unterschied von HRC_CRI und HRC_PCRI unterhalb dem Schwellenwert liegt. Der angepasste Neigungswinkel kann damit entweder einen Nickwinkel, Nick- und Wankwinkel oder Nick-, Wank- und Gierwinkel umfassen. Liegt nur ein Nickwinkel vor, dann sind der in dem Cornea-Bereich reflektierte Horizont und die durch die Schnittunkte gelegte Gerade ohnehin parallel, so dass die vorab angesprochene Drehung zur Erreichung von Parallelität entfällt.

The current angle of inclination between the road surface and the vehicle body is determined using the following procedure:

• As soon as an angle of inclination is established, the orientation and inclination of the body-fixed vectors change. These vectors are mathematically calculated, as described above, to continue to be virtually intersected with the initial plane formed by the wheel contact patches in the case of an uninclined vehicle body, i.e. without wheel deflection, as a result of which HRC _CRI and HRC _PCRI have different values. The real angle of inclination is determined by iteratively rotating the initial plane, mathematically virtually, to the vehicle body, preferably to a pitch, roll or yaw axis of the vehicle body, by an angle and changing the resulting distance between the intersection points of the vectors and the rotated virtual plane until the overlap components HRC _CRI and HRC _PCRI are again approximately the same, i.e. lie within a tolerance range specified by a threshold value. Advantageously, to determine the pitch, roll, and/or yaw angles, the initial plane is rotated to parallel the horizon reflected in the corneal region and a line or straight line connecting the intersection points with the rotated plane. In other words, the plane is rotated so that the line connecting the intersection points is parallel to the horizon reflected in the corneal region and the difference between HRC _CRI and HRC _PCRI is below the threshold value. The adjusted inclination angle can thus be either a pitch angle, Include pitch and roll angles, or pitch, roll, and yaw angles. If only a pitch angle is present, then the horizon reflected in the corneal area and the straight line passing through the intersection points are parallel anyway, so the previously mentioned rotation to achieve parallelism is not necessary.

As soon as the overlap portions fall within the tolerance range, the rotation of the plane is aborted, and the adjusted inclination angle between the initial and rotated plane, determined iteratively at that time, is output to an assistance system as the inclination angle φ in the space of the vehicle body relative to a surface formed by a roadway. The process is performed cyclically to detect a dynamic change in the inclination angle.

In a further preferred embodiment, the positions of the driver observation camera, the surroundings observation camera, the driver's corneal area, and the horizon projected onto the windshield are transferred and/or calibrated into a common coordinate system fixed to the vehicle body. Advantageously, a common coordinate system enables fast and reliable processing of different position data.

According to one embodiment of the present invention, the image of the cornea is displayed in a rectified representation embodied as a plane. The rectification and projection onto a plane allow the HRC _CRI to be reliably determined with high accuracy.

In a further embodiment, the assistance system, whose control is based on the inclination angle, includes a headlight adjustment system, a driving dynamics system, and/or a chassis adjustment system. The assistance systems can advantageously increase driving safety and comfort, with the required inclination angle being determined independently of or in addition to inclination sensors arranged on the vehicle's wheel suspension to reduce the susceptibility to errors.

In another embodiment, the adjusted inclination angle or the corresponding inclination angle is compared and aligned with values determined by position sensors on the wheel suspension. The values can thus be mutually validated, thus reducing faulty sensor technology and incorrect control of the assistance system.

In a further additional or alternative embodiment, the adjusted inclination angle is used as a backup value in the event of a failure of the position sensors for the assistance system. The proposed method advantageously enables the system availability of the assistance systems to be increased.

In one embodiment of the invention, the adjusted inclination angle is determined for a pitch, roll, and/or yaw angle. By rotating the initial plane in space, an adjusted inclination angle can be determined that reflects the pitch, roll, and/or yaw angle. For pitch, roll, and/or yaw angles, the initial plane must be adjusted such that, in addition to the HRC _PCRI and HRC _CRI being approximately equal within the threshold value, a straight line passing through the intersection points of the rotated virtual plane is parallel to the horizon projected onto the windshield by the head-up display in the corneal area.

• - einer Fahrerbeobachtungskamera eingerichtet zur Bestimmung eines Bildes von Reflektionen im Cornea-Bereich eines Auges eines Fahrers; wobei
• - eine Auswerteeinheit, die aus dem Bild des Cornea-Bereichs reflektierte Fahrbahnbegrenzungen der vorausliegenden Fahrbahn und einen mit einem Head-up Display auf eine Windschutzscheibe des Fahrzeugs projizierten reflektierten Horizont extrahiert; wobei
• - die Auswerteeinheit einen Überdeckungsanteil HRC_CRI des in dem Bild des Cornea-Bereichs extrahierten Horizonts in Relation zu einer von den extrahierten Fahrbahnbegrenzungen vorgegebenen Fahrbahnbreite ermittelt;
• - die Auswerteeinheit von durch die Fahrerbeobachtungskamera erfasste Positionen von Endpunkten des in den im Cornea-Bereich reflektierten Horizonts und von Positionen von Endpunkten des auf die Windschutzscheibe projizierten Horizonts bestimmt, die Endpunkte verbindende Vektoren und rechnerisch Schnittpunkte der Vektoren mit einer von den Radaufstandsflächen gebildeten initialen Ebene bei einem, d.h. relativ zu einem ungeneigten Fahrzeugaufbau bestimmt;
• - die Auswerteeinheit einen Abstand der Schnittpunkte (Bh) bestimmt und einen Überdeckungsanteils HRC_PCRI des Abstandes in Relation zu mit einer Umgebungsbeobachtungskamera erfassten auf die initiale Ebene übertragenen Fahrbahnbreite (Bf) ermittelt,
• - die Auswerteeinheit eine rechnerische Anpassung des Überdeckungsanteils HRC_PCRI durch Drehung der initialen Ebene zu den Vektoren um einen angepassten Neigungswinkel φ vornimmt, so dass die Differenz des Überdeckungsanteils von HRC_PCRI und HRC_CRI kleiner einem vorgegebenen Schwellenwert ist und
• - die Auswerteeinheit den angepassten Neigungswinkel φ an Fahrzeugassistenzsysteme zur Weiterverarbeitung übermittelt..

The device according to the invention for determining an inclination angle of a vehicle caused by braking or acceleration relative to a surface formed by a roadway comprises:

• - a driver observation camera configured to determine an image of reflections in the cornea of a driver's eye; wherein
• - an evaluation unit which extracts from the image of the cornea area reflected lane boundaries of the road ahead and a reflected horizon projected onto a windscreen of the vehicle by a head-up display; where
• - the evaluation unit determines an overlap ratio HRC _CRI of the horizon extracted in the image of the cornea area in relation to a road width specified by the extracted road boundaries;
• - the evaluation unit determines the positions of end points of the horizon reflected in the cornea area and the positions of end points of the horizon projected onto the windshield, recorded by the driver observation camera, vectors connecting the end points and mathematically intersection points of the vectors with an initial plane formed by the wheel contact surfaces in the case of an, i.e. relative to an uninclined vehicle body;
• - the evaluation unit determines a distance of the intersection points (Bh) and an overlap fraction HRC _PCRI of the distance in relation to with an environmental observation camera recorded road width (Bf) transferred to the initial level,
• - the evaluation unit performs a computational adjustment of the coverage ratio HRC _PCRI by rotating the initial plane to the vectors by an adjusted inclination angle φ, so that the difference between the coverage ratios of HRC _PCRI and HRC _CRI is smaller than a predetermined threshold value and
• - the evaluation unit transmits the adjusted inclination angle φ to vehicle assistance systems for further processing.

The device according to the invention enables a cost-effective and reliable determination of an inclination angle, in which data from sensors arranged between the chassis suspension and the vehicle body can be dispensed with, at least temporarily.

The present invention is explained in more detail below using exemplary embodiments with reference to the accompanying drawings, in which the same or similar parts are designated by the same reference numerals.

• 1 eine schematische Ansicht eines Fahrzeugs zur Durchführung des erfindungsgemäßen Verfahrens am Beispiel eines Nickwinkels und
• 2 ein Flussdiagramm eines Verfahrensablaufs gemäß der vorliegenden Erfindung.

It shows:

• 1 a schematic view of a vehicle for carrying out the method according to the invention using the example of a pitch angle and
• 2 a flowchart of a method sequence according to the present invention.

In 1 A schematically drawn vehicle 4 is shown with a vehicle body 1 inclined relative to a wheel-fixed chassis part 2 and a non-inclined vehicle body 1' as well as the head of a driver 3. A projector 5 of a head-up display projects a horizon 7, i.e. a largely horizontal line, onto a windshield 9 of the vehicle 4. In the eye, i.e. the cornea 13 of the driver 3, the horizon designated 7' is mirrored or reflected from the windshield and on the cornea 13 lane boundary lines 15' of a road ahead with lane boundary lines 15 (not shown in detail). A driver observation camera 11 records an image 17 of the cornea 13.

Axle system 6 is the wheel-mounted and thus road-mounted axle system, while axle system 8 is the body-mounted axle system. When the chassis is not compressed, the vehicle body 1' has a defined position relative to axle system 6. Under the influence of dynamic driving forces, axle system 8 rotates relative to axle system 6 by an inclination angle φ due to the inclination of body 1.

In image 17, the roadway boundary lines 15' reflected in the cornea area 13 as well as the reflected horizon 7' are extracted by an evaluation unit 12 and preferably projected into a planar representation. Based on the image, an overlap ratio HRC _CRI is calculated, which represents the ratio of a projected roadway width Bh' specified by the roadway boundary lines 15' and the projected horizon 7'Bf' at the corresponding position, i.e. Bh'/Bf'.

The evaluation unit 12 further determines the spatial positions of the endpoints of the horizon 7' projected onto the cornea 13 and the spatial positions of the horizon 7 projected onto the windshield 9. The evaluation unit 11 further determines vectors 17 in space that connect the positions of the endpoints of the horizon 7' reflected in the cornea area 13 and the spatial positions of the endpoints of the horizon 7 projected onto the windshield 9, each on the same side. These vectors 18 are intersected by a plane 19 on which the lane boundary lines 15 of a road ahead of the vehicle 4 are mapped. The plane is generated computationally by generating an initial plane 19 in the wheel contact patches, starting from the dashed-line structure 1' as an assumption without inclination, which, so to speak, represents the roadway ahead for a vehicle without an inclined structure. In other words, this step assumes that no braking, acceleration, or lateral forces are acting. The roadway boundary lines 15, which determine the roadway width, are projected onto this plane 19 using an environmental observation camera 21. The evaluation unit 12 then calculates the intersection points with the plane and determines the overlap ratio HRC _PCRI of the distance Bh dh of the horizon projected onto plane 19 and the roadway width Bf. In other words, the ratio Bh/Bf is calculated.

The components of vehicle 4 are coordinated such that, provided the wheels are in an uncompressed state, i.e., there is no inclination angle of the body relative to the chassis, HRC _CRI and HRC _PCRI are equal. If there is an inclination angle of the body, the overlap ratio HRC _CRI and the overlap ratio HRC _PCRI determined from the intersection points of the inclined vectors 18 with the initial plane 19 will differ.

In order to determine the angle of inclination φ between the vehicle body and the wheel-fixed chassis part 2, the initial plane 19 rotated and cyclically intersection points of the associated vectors 18 with the rotated plane 19' as well as a newly established Bh and a new value HRC _PCRI are calculated. This means that Bh moves in or against the direction of travel depending on the angle of inclination φ indicated by the arrow 23, so that the ratio of Bh/Bf changes. The plane 19' is iteratively rotated virtually, preferably around a pitch axis S of the vehicle 4, until the difference between HRC _CRI and HRC _PCRI is below a predetermined threshold value. The angle established in this state largely corresponds to the angle of inclination φ of the vehicle. This angle φ is transmitted to assistance systems of the vehicle 4 for further processing and adaptation of driver support functions.

According to the 2 The following steps are carried out in the method described: In step S1, an image of reflections in the cornea region of a driver's eye is captured using a driver observation camera, the image preferably being displayed in a predefined representation, for example, rectified in a plane. In the following step S3, a horizon generated on a windshield of the vehicle using a head-up display and reflected in the cornea region, as well as reflected lane boundaries of the road ahead, are extracted from the image. In step S5, an overlap ratio HRC _CRI of the horizon reflected in the cornea region is determined in relation to a road width predetermined by the road boundaries reflected in the cornea region. In a further step S7, the positions of endpoints of the horizon reflected in the corneal region and the positions of endpoints of the horizon projected onto the windshield are computationally determined, vectors connecting the endpoints are determined, and points of intersection of the vectors with an initial plane of the vehicle formed by the wheel contact patches are computationally determined in the case of an uninclined vehicle body. In the following step S9, a distance Bh between the intersection points is determined, and an overlap fraction HRC _PCRI is determined as the relation of the distance Bh to a roadway width Bf, captured by an environmental observation camera and transferred to the initial plane defined by the wheel contact patches. Step S11 comprises a computational, preferably iterative, adjustment of the overlap fraction HRC _PCRI by adjusting the inclination angle φ by virtually rotating the initial plane to the vectors by an inclination angle, such that the difference between the overlap fractions of HRC _PCRI and HRC _CRI is less than a predetermined threshold value. As soon as the difference falls below a threshold value, the iterative process is terminated and in step 13 the inclination angle φ between the initial and rotated plane is transmitted to vehicle assistance systems for further processing.

In a step not shown, preferably arranged before S1, the head-up display, the driver observation camera, and the surroundings observation camera are calibrated in a common body-fixed coordinate system. The adjustment in this step is performed such that, for a vehicle without an inclined body, i.e., without suspension deflection due to dynamic driving forces such as braking or acceleration, the deviation of the values for HRC _CRI and HRC _PCRI is below the specified threshold.

Claims (8)

Method for determining an angle of inclination φ of a vehicle body of a vehicle caused by braking or acceleration relative to a surface formed by a roadway, characterized by the following steps: - determining an image of reflections in the cornea area of a driver's eye with a driver observation camera (S1); - extracting reflected road boundaries of the roadway ahead and reflected horizon projected onto a windshield of the vehicle with a head-up display (S3) from the image of the cornea area; - determining an overlap ratio HRC _CRI of the horizon extracted in the image of the cornea area in relation to a roadway width predetermined by the extracted road boundaries (S5); -computational determination of positions of endpoints of the horizon reflected in the image of the corneal area and positions of endpoints of the horizon projected onto the windshield, determination of vectors connecting the endpoints and a computational determination of intersection points with an initial plane of the vehicle formed by the wheel contact patches relative to an uninclined vehicle body (S7); -determination of a distance between the intersection points and determination of an overlap fraction HRC _PCRI of the distance in relation to a roadway width captured by an environmental observation camera and transferred to the initial plane (S9); -computational adjustment of the overlap fraction HRC _PCRI by rotating the initial plane relative to the vectors by an adjusted angle of inclination, such that the difference between the overlap fractions of HRC _PCRI and HRC _CRI is smaller than a predetermined threshold value (S11) and -transmission of the adjusted angle of inclination φ between the initial and rotated planes to vehicle assistance systems for further processing (S13). Procedure according to Claim 1 , characterized in that positions of the driver observation camera, the surroundings observation camera, the reflected horizon and the reflected road boundaries in the image of the driver's cornea area and the horizon projected onto the windshield are transferred into a common, body-fixed coordinate system. Procedure according to Claim 1 or 2 , characterized in that the image of the cornea area is displayed in a representation executed as a plane in a rectified manner. Method according to one of the Claims 1 until 3 , characterized in that the assistance system comprises a headlight adjustment system, a driving dynamics system and/or a chassis adjustment system. Method according to one of the Claims 1 until 4 , characterized in that the adjusted angle of inclination is compared and adjusted with values determined on wheel suspensions with position sensors. Method according to one of the Claims 1 until 5 , characterized in that the adjusted inclination angle is used as a substitute value in the event of failure of the position sensors for the assistance system. Method according to one of the Claims 1 until 6 , characterized in that the adjusted inclination angle is determined for a pitch, roll and/or yaw angle. Device for determining an angle of inclination φ of a vehicle body (1; 1') caused by braking or acceleration relative to a surface formed by a roadway, comprising: - a driver observation camera (11) configured to determine an image of reflections in the corneal region (13) of a driver's eye; wherein - an evaluation unit (12) extracts from the image of the corneal region reflected lane boundaries (15') of the roadway ahead and a reflected horizon (7') projected onto a windshield (9) of the vehicle using a head-up display; wherein - the evaluation unit (12) determines an overlap fraction HRC _CRI of the horizon (7') extracted in the image of the corneal region in relation to a roadway width predetermined by the extracted lane boundaries (15'); - the evaluation unit (12) determines positions of end points of the horizon (7') reflected in the cornea area (13) and of positions of end points of the horizon (7) projected onto the windshield (9), detected by the driver observation camera (11), vectors (18) connecting the end points and mathematically intersection points of the vectors (18) with an initial plane (19) formed by the wheel contact surfaces relative to an uninclined vehicle body (1'); - the evaluation unit (12) determines a distance between the intersection points (B _h ) and determines an overlap fraction HRC _PCRI of the distance in relation to the roadway width (B _f ) recorded by an environmental observation camera (21) and transferred to the initial plane (19), - the evaluation unit (12) carries out a mathematical adjustment of the overlap fraction HRC _PCRI by rotating the initial plane (19) to the vectors (18) by an adjusted angle of inclination φ, so that the difference between the overlap fraction of HRC _PCRI and HRC _CRI is smaller than a predetermined threshold value and - the evaluation unit (12) transmits the adjusted angle of inclination φ to vehicle assistance systems for further processing.